CN117872379A - Underwater target ranging method, medium and system under shallow sea internal wave condition - Google Patents
Underwater target ranging method, medium and system under shallow sea internal wave condition Download PDFInfo
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Abstract
The invention provides an underwater target ranging method, medium and system under a shallow sea internal wave condition, which belong to the technical field of underwater ranging, and the underwater target ranging method under the shallow sea internal wave condition comprises the following steps: processing sound pressure signals received by a horizontal line array to obtain sound intensity interference structures corresponding to a plurality of time snapshots, and marking the sound intensity interference structures as first sound intensity interference structures; performing time average processing on the first sound intensity interference structure to obtain an average processed sound intensity interference structure, and marking the average processed sound intensity interference structure as a second sound intensity interference structure; processing the second sound intensity interference structure to obtain the slope peak coordinates of the interference fringes; obtaining a distance estimation value of the underwater target according to the interference fringe slope peak value coordinates and the waveguide invariant priori information; the method can improve universality and accuracy of the ranging method in the shallow sea internal wave environment, is simple to implement and easy to process, has less sample data demand, is shorter in calculation time and is more practical.
Description
Technical Field
The invention belongs to the technical field of underwater ranging, and particularly relates to an underwater target ranging method, medium and system under a shallow sea internal wave condition.
Background
For a typical shallow sea environment, interference occurs between the various-order normal waves of the sound field, and the sound intensity of the far-field received signal presents a stripe-like phenomenon with alternate brightness and darkness on a distance-frequency plane, namely a sound intensity interference structure. Interference fringe slope and corresponding sea area extracted by utilizing sound intensity interference structureIs not variable in the waveguide of (2)Can be used for underwater target ranging.
However, for the presence of internal waves, the structure of the acoustic interference will be severely distorted. If the stripe slope extracted by the sound intensity interference structure when the internal wave exists is directly used for underwater target distance measurement, the stripe slope will be invariant with the waveguide when the internal wave does not exist in the target sea areaThe prior information is "mismatched", resulting in a larger error in the target ranging result.
In response to this problem, song Wenhua et al propose a neural network-based interference fringe restoration method that can restore the intensity interference structure distorted by the influence of internal waves to be the same as in the case of no internal waves, however this method requires a large amount of data to train a neural network model, with a certain limitation on its applicability (Li X L, song W H, gao D Z, and et al, tracking a U-Net based on a random mode-coupling matrix model to recover acoustic interference striations [ J ]. Journal of the Acoustical Society of America, 2020, 147 (4): EL 363-369.). Li Yongfei et al propose a Vector-finite information rate (Vector-FRI) based method that uses an iterative method to extract the two-dimensional peak point coordinates that are not affected by the internal wave and to recover the sound intensity interference structure, however this method requires setting the MSE ridge parameters in a specific way that is a difficulty (Guo R M, li Y F, blu T, and et al Vector-FRI Recovery of Multi-Sensor Measurements J IEEE Transactions on Signal Processing, 2022, 70:4369-4380.).
Disclosure of Invention
In view of the above, the invention provides an underwater target ranging method, medium and system under the condition of shallow sea internal wave, which can improve the universality and accuracy of the ranging method under the condition of shallow sea internal wave.
The invention is realized in the following way:
the first aspect of the invention provides an underwater target ranging method under a shallow sea internal wave condition, which comprises the following steps:
s10: processing sound pressure signals received by a horizontal line array to obtain sound intensity interference structures corresponding to a plurality of time snapshots, and marking the sound intensity interference structures as first sound intensity interference structures;
s20: performing time average processing on the first sound intensity interference structure to obtain an average processed sound intensity interference structure, and marking the average processed sound intensity interference structure as a second sound intensity interference structure;
s30: processing the second sound intensity interference structure to obtain the slope peak coordinates of the interference fringes;
s40: and obtaining the distance estimation value of the underwater target according to the interference fringe slope peak value coordinates and the waveguide invariant priori information.
On the basis of the technical scheme, the underwater target ranging method under the condition of shallow sea internal waves can be improved as follows:
the method specifically comprises the following steps of:
summing the first sound intensity interference structures to obtain a total sound intensity interference structure;
calculating the total number of time snapshots；
Dividing the total sound intensity interference structure by the total number of time snapshotsAnd obtaining an average-processed sound intensity interference structure, namely a second sound intensity interference structure.
The beneficial effects of adopting above-mentioned improvement scheme are: by carrying out time average treatment on the sound intensity interference structure, the distortion of the original sound intensity interference structure caused by the internal wave is reduced.
Further, the processing of the sound pressure signal received by the horizontal line array to obtain a sound intensity interference structure corresponding to the plurality of time snapshots is recorded as a first sound intensity interference structure, and specifically includes the following steps:
dividing the sound pressure signal into a plurality of sound pressure signals according to the number of time snapshots;
converting the divided sound pressure signals into frequency domain signals;
and obtaining sound intensity interference structures corresponding to the plurality of time snapshots according to the frequency domain signals.
Further, the processing of the second acoustic intensity interference structure to obtain the slope peak coordinates of the interference fringes specifically includes the following steps:
processing the second sound intensity interference structure to obtain a corresponding two-dimensional frequency spectrum;
performing coordinate transformation and integration on the two-dimensional frequency spectrum to obtain a fringe slope distribution curve of the sound intensity interference structure;
and extracting the peak coordinates of the fringe slope distribution curve of the sound intensity interference structure.
Further, the divided sound pressure signals are converted into frequency domain signals, and fourier transformation is performed.
Further, the waveguide invariantsIs the waveguide invariant of the target sea area +.>Is a priori information about (a).
Further, the second sound intensity interference structure is processed to obtain a corresponding two-dimensional spectrum, and the processing includes mean removal and two-dimensional Fourier transformation.
Further, the coordinate transformation and integration are performed on the two-dimensional frequency spectrum, and the coordinate transformation is polar coordinate transformation in the stripe slope distribution curve of the sound intensity interference structure is obtained.
A second aspect of the present invention provides a computer readable storage medium having stored therein program instructions which, when executed, are adapted to carry out a method of ranging underwater targets under shallow sea wave conditions as described above.
A third aspect of the present invention provides an underwater target ranging system in shallow sea wave conditions, comprising the computer readable storage medium described above.
Compared with the prior art, the underwater target ranging method, medium and system under the condition of shallow sea internal waves provided by the invention have the beneficial effects that: aiming at the problem that the ranging based on the interference structure cannot be directly applied to the shallow sea internal wave environment, the invention provides a method for recovering the distorted interference structure into a stripe shape by a time average processing method, and extracting a result and a waveguide invariant of a target sea area by utilizing the slope of the recovered interference stripeAnd the prior information is used for finally obtaining the ranging result of the target.
The basic principle and the implementation scheme of the invention are verified by computer simulation data, and the result shows that: the method based on time average processing can effectively realize the ranging task of the target under the condition of shallow sea internal waves.
The method provided by the invention is simple to implement, easy to process, less in sample data demand, shorter in calculation time and more practical.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for ranging underwater targets in shallow sea wave conditions.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in fig. 1, a flowchart of a first embodiment of a method for ranging underwater targets under shallow sea wave conditions is provided in a first aspect of the present invention, in this embodiment, the method includes the following steps:
s10: processing sound pressure signals received by a horizontal line array to obtain sound intensity interference structures corresponding to a plurality of time snapshots, and marking the sound intensity interference structures as first sound intensity interference structures;
s20: performing time average processing on the first sound intensity interference structure to obtain an average processed sound intensity interference structure, and marking the average processed sound intensity interference structure as a second sound intensity interference structure;
s30: processing the second sound intensity interference structure to obtain the slope peak coordinates of the interference fringes;
s40: and obtaining the distance estimation value of the underwater target according to the interference fringe slope peak value coordinates and the waveguide invariant priori information.
The receiving array adopts a horizontal line array distributed on the sea bottom to obtain sound intensity calculation results at different distances. The number of the array elements of the horizontal line array isThe array element distance is->The distance between the array center and the sound source is +.>The total time length of the received signal is +.>. The specific implementation scheme of the method provided by the invention is as follows:
selecting a time intervalThe array is received with length +.>Is divided equally into +.>A snapshot of shorter duration, th->Individual array element->The received time-domain signal of each snapshot is recorded as +.>. Wherein (1)>Representing the sequence number of array elements, ">The number of snapshots is represented, and the parameters satisfy the following relation:
；
；
；
wherein,representing sound source and->Horizontal distance between individual array elements, +.>Representing array element spacing>Represents the horizontal distance between the sound source and the center point of the horizontal linear array, < >>Indicate->The start time of each snapshot.
Respectively selecting different snapshots obtained in the previous step, and performingAnd carrying out Fourier transform on the single snapshot time domain signals of each array element to obtain corresponding frequency domain signals. First->Individual array element->Frequency domain signal corresponding to each snapshot +.>The calculation formula of (2) is as follows:
；
wherein,indicate frequency,/->Indicate->Corresponding time domain signals of each snapshot.
Respectively selecting different array elements obtained in the previous step and frequency spectrums corresponding to different snapshots, and calculating sound intensity to obtainThe sound intensity interferes with the structure diagram. First->Individual array element->Sound intensity corresponding to each snapshot>The calculation formula of (2) is as follows:
；
for the obtained in the previous stepThe sum calculation is carried out on the individual intensity interference structure, and the sum calculation is divided by the total number of snapshots +.>And obtaining a sound intensity interference structure recovery result after time average processing. The calculation formula is as follows:
；
and (3) carrying out average value removing treatment on the sound intensity interference structure subjected to the time average treatment in the previous step, wherein the average value is the average value of all elements of the sound intensity interference structure (matrix). Then carrying out two-dimensional Fourier transform operation on the result to obtain a two-dimensional frequency spectrum result corresponding to the sound intensity interference structure. The calculation formula is as follows:
；
wherein,spatial frequency representing distance direction, +.>Spatial frequency representing frequency direction, +.>And (5) representing the average value of the sound intensity interference structure recovery result after the time average treatment.
For the sound intensity interference structure obtained in the last stepCoordinate transformation is performed on the two-dimensional frequency spectrum of (2), and the two-dimensional frequency spectrum is converted into a polar coordinate system and recorded as，/>Indicates the polar diameter->The polar angle is represented by the coordinate transformation formula:
；
given different polar anglesAnd integrates along the angle, the integral formula is:
；
multiple groups can be obtained by the calculationValue, drawing fringe slope distribution curve of interference structureExtracting->Coordinates corresponding to the maximum of the curve->Wherein:
；
for the obtained in the previous stepCoordinates corresponding to the maximum of the curve->Combining waveguide invariants->To obtain the estimated value of the target distance +.>. The calculation formula is as follows:
。
a second aspect of the present invention provides a computer readable storage medium, in which a program of instructions is stored in the computer readable storage medium, and the program of instructions is executed to perform a method for ranging an underwater target under shallow sea waves as described above.
A third aspect of the present invention provides an underwater target ranging system in shallow sea wave conditions, comprising the computer readable storage medium described above.
Specifically, the principle of the invention is as follows: the invention provides an underwater target ranging method under a shallow sea internal wave condition based on time average, which utilizes sound pressure data received by a horizontal line array to convert the data into a frequency domain and calculate to obtain sound intensity interference structures corresponding to a plurality of continuous time snapshots, and then obtains a recovery result of the sound intensity interference structures through time average processing. Extracting the slope peak coordinates of interference fringes from the sound intensity interference structure recovery result by using a two-dimensional Fourier transform method, and combining the target sea area waveguide invariantAnd obtaining the ranging result of the underwater target.
Claims (10)
1. The underwater target distance measurement method under the condition of shallow sea internal waves is characterized by comprising the following steps of:
s10: processing sound pressure signals received by a horizontal line array to obtain sound intensity interference structures corresponding to a plurality of time snapshots, and marking the sound intensity interference structures as first sound intensity interference structures;
s20: performing time average processing on the first sound intensity interference structure to obtain an average processed sound intensity interference structure, and marking the average processed sound intensity interference structure as a second sound intensity interference structure;
s30: processing the second sound intensity interference structure to obtain the slope peak coordinates of the interference fringes;
s40: and obtaining the distance estimation value of the underwater target according to the interference fringe slope peak value coordinates and the waveguide invariant priori information.
2. The method for ranging underwater targets under shallow sea internal wave conditions according to claim 1, wherein the time-averaging processing is performed on the first sound intensity interference structure to obtain an averaged sound intensity interference structure, which is denoted as a second sound intensity interference structure, specifically comprising the following steps:
summing the first sound intensity interference structures to obtain a total sound intensity interference structure;
calculating the total number of time snapshots；
Dividing the total sound intensity interference structure by the total number of time snapshotsAnd obtaining an average-processed sound intensity interference structure, namely a second sound intensity interference structure.
3. The method for ranging underwater targets under shallow sea internal wave conditions according to claim 2, wherein the processing of sound pressure signals received by a horizontal line array to obtain sound intensity interference structures corresponding to a plurality of time snapshots is recorded as a first sound intensity interference structure specifically comprises the following steps:
dividing the sound pressure signal into a plurality of sound pressure signals according to the number of time snapshots;
converting the divided sound pressure signals into frequency domain signals;
and obtaining sound intensity interference structures corresponding to the plurality of time snapshots according to the frequency domain signals.
4. The method for ranging underwater targets under shallow sea internal wave conditions according to claim 3, wherein the processing of the second acoustic intensity interference structure to obtain the slope peak coordinates of interference fringes specifically comprises the following steps:
processing the second sound intensity interference structure to obtain a corresponding two-dimensional frequency spectrum;
performing coordinate transformation and integration on the two-dimensional frequency spectrum to obtain a fringe slope distribution curve of the sound intensity interference structure;
and extracting the peak coordinates of the fringe slope distribution curve of the sound intensity interference structure.
5. The method for ranging underwater targets in shallow sea according to claim 4, wherein the dividing the plurality of sound pressure signals into a plurality of frequency domain signals is performed by fourier transform.
6. The method for ranging underwater targets in shallow sea according to claim 5, wherein the waveguide invariant priori information is waveguide invariant of the target sea areaIs a priori information about (a).
7. The method for ranging underwater targets under shallow sea wave conditions according to claim 6, wherein the processing of the second acoustic intensity interference structure includes removing means and two-dimensional fourier transform in a corresponding two-dimensional spectrum.
8. The method for ranging underwater targets under shallow sea internal wave conditions according to claim 7, wherein the coordinate transformation and integration are performed on the two-dimensional spectrum to obtain a stripe slope distribution curve of a sound intensity interference structure, and the coordinate transformation is polar coordinate transformation.
9. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein program instructions, which when run, are adapted to perform a method of ranging underwater objects under shallow sea wave conditions as claimed in any one of claims 1-8.
10. An underwater target ranging system in shallow sea wave conditions comprising the computer readable storage medium of claim 9.
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